Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device

Abstract

A three-dimensional data encoding method includes: obtaining third point cloud data that is a combination of first point cloud data and second point cloud data, and includes geometry information of each of three-dimensional points included in the third point cloud data, and identification information indicating which of the first point cloud data and the second point cloud data each of the three-dimensional points belongs to; and generating encoded data by encoding the third point cloud data obtained. In the generating, identification information of each of the three-dimensional points is encoded as attribute information.

What is claimed is: 
     
       1. A data encoding method, comprising:
 obtaining third point cloud frame data to be coded, the third point cloud frame data including data of each of third three-dimensional points, the third three-dimensional points comprising a third point cloud frame, the data of each of the third three-dimensional points including identification information, the identification information indicating how the third three-dimensional points are partitioned into a first point cloud frame or a second point cloud frame; 
 generating encoded data by encoding the third point cloud frame data; and 
 generating a bitstream including the encoded data, 
 wherein in the encoding, the identification information of each of the third three-dimensional points is encoded as attribute information, 
 wherein identification information indicating the first point cloud frame is assigned to a third three-dimensional point to be partitioned into the first point cloud frame, and 
 identification information indicating the second point cloud frame is assigned to a third three-dimensional point to be partitioned into the second point cloud frame. 
 
     
     
       2. The data encoding method according to  claim 1 , wherein the first point cloud frame and the second point cloud frame are temporally different from each other. 
     
     
       3. The data encoding method according to  claim 1 , wherein the data of each of the third three-dimensional points includes geometry information. 
     
     
       4. A data decoding method, comprising:
 obtaining a bitstream including encoded data; and 
 obtaining attribute information of each of third three-dimensional points included in third point cloud frame data by decoding the encoded data included in the bitstream, 
 wherein the attribute information includes identification information, the identification information indicating how the third three-dimensional points are partitioned into a first point cloud frame or a second point cloud frame, 
 wherein identification information indicating the first point cloud frame is assigned to a third three-dimensional point to be partitioned into the first point cloud frame, and 
 identification information indicating the second point cloud frame is assigned to a third three-dimensional point to be partitioned into the second point cloud frame. 
 
     
     
       5. The data decoding method according to  claim 4 , wherein the first point cloud frame and the second point cloud frame are temporally different from each other. 
     
     
       6. The data decoding method according to  claim 4 , wherein the data of each of the third three-dimensional points includes geometry information. 
     
     
       7. A data encoding device, comprising:
 a processor; and 
 memory, 
 wherein using the memory, the processor:
 obtains third point cloud frame data to be coded, the third point cloud frame data including data of each of third three-dimensional points, the third three-dimensional points comprising a third point cloud frame, the data of each of the third three-dimensional points including identification information, the identification information indicating how the third three-dimensional points are partitioned into a first point cloud frame or a second point cloud frame; 
 generates encoded data by encoding the third point cloud frame data; and 
 generates a bitstream including the encoded data, 
 
 wherein in the encoding, the identification information of each of the third three-dimensional points is encoded as attribute information, 
 wherein identification information indicating the first point cloud frame is assigned to a third three-dimensional point to be partitioned into the first point cloud frame, and 
 identification information indicating the second point cloud frame is assigned to a third three-dimensional point to be partitioned into the second point cloud frame. 
 
     
     
       8. A data decoding device, comprising:
 a processor; and 
 memory, 
 wherein using the memory, the processor:
 obtains a bitstream including encoded data; and 
 obtains attribute information of each of third three-dimensional points included in third point cloud frame data by decoding the encoded data included in the bitstream, 
 
 wherein the attribute information includes identification information, the identification information indicating how the third three-dimensional points are partitioned into a first point cloud frame or a second point cloud frame, 
 wherein identification information indicating the first point cloud frame is assigned to a third three-dimensional point to be partitioned into the first point cloud frame, and 
 identification information indicating the second point cloud frame is assigned to a third three-dimensional point to be partitioned into the second point cloud frame.